Formation control of multiple autonomous vehicle systems / Hugh H. T. Liu, Bo Zhu.

Format:

Book

Author/Creator:

Liu, Hugh H. T., author.

Zhu, Bo (Mechanical engineer), author.

Language:

English

Subjects (All):

Automated vehicles--Case studies.

Automated vehicles.

Formation control (Machine theory)--Case studies.

Formation control (Machine theory).

Synchronization--Case studies.

Synchronization.

Motion control devices--Case studies.

Motion control devices.

Physical Description:

1 online resource (271 pages)

Edition:

1st edition

Place of Publication:

Hoboken, NJ : Wiley, 2018.

System Details:

text file

Summary:

This text explores formation control of vehicle systems and introduces three representative systems: space systems, aerial systems and robotic systems Formation Control of Multiple Autonomous Vehicle Systems offers a review of the core concepts of dynamics and control and examines the dynamics and control aspects of formation control in order to study a wide spectrum of dynamic vehicle systems such as spacecraft, unmanned aerial vehicles and robots. The text puts the focus on formation control that enables and stabilizes formation configuration, as well as formation reconfiguration of these vehicle systems. The authors develop a uniform paradigm of describing vehicle systems’ dynamic behaviour that addresses both individual vehicle’s motion and overall group’s movement, as well as interactions between vehicles. The authors explain how the design of proper control techniques regulate the formation motion of these vehicles and the development of a system level decision-making strategy that increases the level of autonomy for the entire group of vehicles to carry out their missions. The text is filled with illustrative case studies in the domains of space, aerial and robotics. • Contains uniform coverage of "formation" dynamic systems development • Presents representative case studies in selected applications in the space, aerial and robotic systems domains • Introduces an experimental platform of using laboratory three-degree-of-freedom helicopters with step-by-step instructions as an example • Provides open source example models and simulation codes • Includes notes and further readings that offer details on relevant research topics, recent progress and further developments in the field Written for researchers and academics in robotics and unmanned systems looking at motion synchronization and formation problems, Formation Control of Multiple Autonomous Vehicle Systems is a vital resource that explores the motion synchronization and formation control of vehicle systems as represented by three representative systems: space systems, aerial systems and robotic systems.

Contents:

Cover

Title Page

Copyright

Contents

Preface

List of Tables

List of Figures

Acknowledgments

Part I Formation Control: Fundamental Concepts

Chapter 1 Formation Kinematics

1.1 Notation

1.2 Vectorial Kinematics

1.2.1 Frame Rotation

1.2.2 The Motion of a Vector

1.2.3 The First Time Derivative of a Vector

1.2.4 The Second Time Derivative of a Vector

1.2.5 Motion with Respect to Multiple Frames

1.3 Euler Parameters and Unit Quaternion

Chapter 2 Formation Dynamics of Motion Systems

2.1 Virtual Structure

2.1.1 Formation Control Problem Statement

2.1.2 Extended Formation Control Problem

2.2 Behaviour‐based Formation Dynamics

2.3 Leader-Follower Formation Dynamics

Chapter 3 Fundamental Formation Control

3.1 Unified Problem Description

3.1.1 Some Key Definitions for Formation Control

3.1.2 A Simple Illustrative Example

3.2 Information Interaction Conditions

3.2.1 Algebraic Graph Theory

3.2.2 Conditions for the Case without a Leader

3.2.3 Conditions for the Case with a Leader

3.3 Synchronization Errors

3.3.1 Local Synchronization Error: Type I

3.3.2 Local Synchronization Error: Type II

3.3.3 Local Synchronization Error: Type III

3.4 Velocity Synchronization Control

3.4.1 Velocity Synchronization without a Leader

3.4.2 Velocity Synchronization with a Leader

3.5 Angular‐position Synchronization Control

3.5.1 Synchronization without a Position Reference

3.5.2 Synchronization to a Position Reference

3.6 Formation via Synchronized Tracking

3.6.1 Formation Control Solution 1

3.6.2 Formation Control Solution 2

3.7 Simulations

3.7.1 Verification of Theorem 3.12

3.7.2 Verification of Theorem 3.13

3.7.3 Verification of Theorem 3.14

3.8 Summary

Bibliography

Part II Formation Control: Advanced Topics.

Chapter 4 Output‐feedback Solutions to Formation Control

4.1 Introduction

4.2 Problem Statement

4.3 Linear Output‐feedback Control

4.4 Bounded Output‐feedback Control

4.5 Distributed Linear Control

4.6 Distributed Bounded Control

4.7 Simulations

4.7.1 Case 1: Verification of Theorem 4.1

4.7.2 Case 2: Verification of Theorem 4.5

4.8 Summary

Chapter 5 Robust and Adaptive Formation Control

5.1 Problem Statement

5.2 Continuous Control via State Feedback

5.2.1 Controller Development

5.2.2 Analysis of Tracker ui0

5.2.3 Design of Disturbance Estimators

5.2.4 Closed‐loop Performance Analysis

5.3 Bounded State Feedback Control

5.3.1 Design of Bounded State Feedback

5.3.2 Robustness Analysis

5.3.3 The Effect of UDE on Stability

5.3.4 The Effect of UDE on the Bounds of Control

5.4 Continuous Control via Output Feedback

5.4.1 Design of ui0 and d^i

5.4.2 Stability Analysis

5.5 Discontinuous Control via Output Feedback

5.5.1 Controller Design

5.5.2 Stability Analysis

5.6 GSE‐based Synchronization Control

5.6.1 Coupled Errors

5.6.2 Controller Design and Convergence Analysis

5.7 GSE‐based Adaptive Formation Control

5.7.1 Problem Statement

5.7.2 Controller Development

5.8 Summary

Part III Formation Control: Case Studies

Chapter 6 Formation Control of Space Systems

6.1 Lagrangian Formulation of Spacecraft Formation

6.1.1 Lagrangian Formulation

6.1.2 Attitude Dynamics of Rigid Spacecraft

6.1.3 Relative Translational Dynamics

6.2 Adaptive Formation Control

6.3 Applications and Simulation Results

6.3.1 Application 1: Leader-Follower Spacecraft Pair

6.3.1.1 Simulation Condition

6.3.1.2 Control Parameters

6.3.1.3 Simulation Results and Analysis

6.3.2 Application 2: Multiple Spacecraft in Formation

6.4 Summary.

Chapter 7 Formation Control of Aerial Systems

7.1 Vortex‐induced Aerodynamics

7.1.1 Model of the Trailing Vortices of Leader Aircraft

7.1.2 Single Horseshoe Vortex Model

7.1.3 Continuous Vortex Sheet Model

7.2 Aircraft Autopilot Models

7.2.1 Models for the Follower Aircraft

7.2.2 Kinematics for Close‐formation Flight

7.3 Controller Design

7.3.1 Linear Proportional‐integral Controller

7.3.2 UDE‐based Formation‐flight Controller

7.3.2.1 Formation Flight Controller Design

7.3.2.2 Uncertainty and Disturbance Estimator

7.4 Simulation Results

7.4.1 Simulation Results for Controller 1

7.4.2 Simulation Results for Controller 2

7.5 Summary

Chapter 8 Formation Control of Robotic Systems

8.1 Introduction

8.2 Visual Tracking

8.2.1 Imaging Hardware

8.2.2 Image Distortion

8.2.3 Color Thresholding

8.2.4 Noise Rejection

8.2.5 Data Extraction

8.3 Synchronization Control

8.3.1 Synchronization

8.3.2 Formation Parameters

8.3.3 Architecture

8.3.4 Control Law

8.3.5 Simulations

8.3.5.1 Constant Formation along Circular Trajectory

8.3.5.2 Time‐varying Formation along Linear Trajectory

8.4 Passivity Control

8.4.1 Passivity

8.4.2 Formation Parameters

8.4.3 Control Law

8.4.4 Simulation

8.5 Experiments

8.5.1 Setup

8.5.2 Results

8.5.2.1 Constant Formation Along Circular Trajectory

8.5.2.2 Time‐varying Formation along Linear Trajectory

8.6 Summary

Part IV Formation Control: Laboratory

Chapter 9 Experiments on 3DOF Desktop Helicopters

9.1 Description of the Experimental Setup

9.2 Mathematical Models

9.2.1 Nonlinear 3DOF Model

9.2.2 2DOF Model for Elevation and Pitch Control

9.3 Experiment 1: GSE‐based Synchronized Tracking

9.3.1 Objective

9.3.2 Initial Conditions and Desired Trajectories.

9.3.3 Control Strategies

9.3.4 Disturbance Condition

9.3.5 Experimental Results

9.3.6 Summary

9.4 Experiment 2: UDE‐based Robust Synchronized Tracking

9.4.1 Objective

9.4.2 Initial Conditions and Desired Trajectories

9.4.3 Control Strategies

9.4.4 Experimental Results and Discussions

9.4.5 Summary

9.5 Experiment 3: Output‐feedback‐based Sliding‐mode Control

9.5.1 Objective

9.5.2 Initial Conditions and Desired Trajectories

9.5.3 Control Strategies

9.5.4 Experimental Results and Discussions

9.5.5 Summary

Part V Appendix

Appendix A

A.1 Algebra and Matrix Theory

A.2 Systems and Control Theory

A.2.1 Definitions of Lipschitz Condition

A.2.2 Definitions of Asymptotically Stable

A.2.3 Definitions of Input‐to‐state Stability

A.2.4 Bounds of Solutions of Linear Systems

A.2.5 Results for Small‐signal L∞ Stability

A.3 Proofs

A.3.1 Proof of Theorem 5.6

A.3.2 Proof of Lemma 5.10

A.3.3 Proof of Lemma 5.13

Index

EULA.

Notes:

Includes bibliographical references.

Description based on print version record.

ISBN:

9781119263043

1119263042

9781119263081

1119263085

OCLC:

1088729736